#include "base/transforms.h"

namespace limap {

CameraPose pose_similarity_transform(const CameraPose& pose, const SimilarityTransform3& transform) {
    M3D new_R = pose.R() * transform.R().transpose();
    V3D new_T = transform.s() * pose.T() - new_R * transform.T();
    return CameraPose(new_R, new_T);
}

} // namespace limap

